EthercatDevice.sdoUpload64()

[Ethercat Device]

描述

Read 64-bit value from the specified object for such EtherCAT slave device.

語法

uint64_t sdoUpload64(uint16_t od_index, uint8_t od_subindex, uint32_t timeout_us = 100000);

參數

• [in] uint16_t od_index
  Index of the object.
• [in] uint8_t od_subindex
  Subindex of the object.
• [in] uint32_t timeout_us
  Timeout in microseconds.

回傳值

Return the 64-bit value.

備註

This function must be called after a successful execution of EthercatMaster::begin(). This function is blocking and cannot be called within the Cyclic Callback.

範例

#include "Ethercat.h"

EthercatMaster master;
EthercatDevice_Generic slave;

void setup() {
  Serial.begin(115200);
  
  master.begin();
  slave.attach(0, master);
  master.start(1000000);
}

void loop() {
  uint64_t value = slave.sdoUpload64(0x5000, 0x00);

  uint32_t highPart = (uint32_t)(value >> 32);
  uint32_t lowPart = (uint32_t)(value & 0xFFFFFFFF);

  Serial.print("Value: ");
  Serial.print(highPart, HEX);
  Serial.print(lowPart, HEX);
  Serial.println();

  delay(1000);
}

Please see the EtherCAT Library User Manual for more QEC EtherCAT instructions and API usage.